OpenRaiser/Intern-Atlas huggingface dataset:
OxIOD: The Dataset for Deep Inertial Odometry
Venue: arXiv cs.RO 2018
Year: 2018

Advances in micro-electro-mechanical (MEMS) techniques enable inertial measurements units (IMUs) to be small, cheap, energy efficient, and widely used in smartphones, robots, and drones. Exploiting inertial data for accurate and reliable navigation and localization has attracted significant research and industrial interest, as IMU measurements are completely ego-centric and generally environment agnostic. Recent studies have shown that the notorious issue of drift can be significantly alleviated by using deep neural networks (DNNs), e.g. IONet. However, the lack of sufficient labelled data for training and testing various architectures limits the proliferation of adopting DNNs in IMU-based tasks. In this paper, we propose and release the Oxford Inertial Odometry Dataset (OxIOD), a first-of-its-kind data collection for inertial-odometry research, with all sequences having ground-truth labels. Our dataset contains 158 sequences totalling more than 42 km in total distance, much larger than previous inertial datasets. Another notable feature of this dataset lies in its diversity, which can reflect the complex motions of phone-based IMUs in various everyday usage. The measurements were collected with four different attachments (handheld, in the pocket, in the handbag and on the trolley), four motion modes (halting, walking slowly, walking normally, and running), five different users, four types of off-the-shelf consumer phones, and large-scale localization from office buildings. Deep inertial tracking experiments were conducted to show the effectiveness of our dataset in training deep neural network models and evaluate learning-based and model-based algorithms. The OxIOD Dataset is available at: http://deepio.cs.ox.ac.uk
Multi-robot motion-formation distributed control with sensor self-calibration: experimental validation
Venue: arXiv cs.RO 2018
Year: 2018

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and rotated at the same time. This approach makes the robots to behave as a cohesive whole, which can be useful in tasks such as collaborative transportation. The robustness of the algorithm relies on the fact that each robot employs only local measurements from a laser sensor which does not need to be off-line calibrated. Furthermore, robots do not need to exchange any information with each other. Being free of sensor calibration and not requiring a communication channel helps the scaling of the overall system to a large number of robots. In addition, since the robots do not need any off-board localization system, but require only relative positions with respect to their neighbors, it can be aimed to have a full autonomous team that operates in environments where such localization systems are not available. The computational cost of the algorithm is inexpensive and the resources from a standard microcontroller will suffice. This fact makes the usage of our approach appealing as a support for other more demanding algorithms, e.g., processing images from onboard cameras. We validate the performance of the algorithm with a team of four mobile robots equipped with low-cost commercially available laser scanners.
Symbolic Music Genre Transfer with CycleGAN
Venue: arXiv cs.SD 2018
Year: 2018

Deep generative models such as Variational Autoencoders (VAEs) and Generative Adversarial Networks (GANs) have recently been applied to style and domain transfer for images, and in the case of VAEs, music. GAN-based models employing several generators and some form of cycle consistency loss have been among the most successful for image domain transfer. In this paper we apply such a model to symbolic music and show the feasibility of our approach for music genre transfer. Evaluations using separate genre classifiers show that the style transfer works well. In order to improve the fidelity of the transformed music, we add additional discriminators that cause the generators to keep the structure of the original music mostly intact, while still achieving strong genre transfer. Visual and audible results further show the potential of our approach. To the best of our knowledge, this paper represents the first application of GANs to symbolic music domain transfer.
MIDI-VAE: Modeling Dynamics and Instrumentation of Music with Applications to Style Transfer
Venue: arXiv cs.SD 2018
Year: 2018

We introduce MIDI-VAE, a neural network model based on Variational Autoencoders that is capable of handling polyphonic music with multiple instrument tracks, as well as modeling the dynamics of music by incorporating note durations and velocities. We show that MIDI-VAE can perform style transfer on symbolic music by automatically changing pitches, dynamics and instruments of a music piece from, e.g., a Classical to a Jazz style. We evaluate the efficacy of the style transfer by training separate style validation classifiers. Our model can also interpolate between short pieces of music, produce medleys and create mixtures of entire songs. The interpolations smoothly change pitches, dynamics and instrumentation to create a harmonic bridge between two music pieces. To the best of our knowledge, this work represents the first successful attempt at applying neural style transfer to complete musical compositions.
An Efficient Approximation Algorithm for Multi-criteria Indoor Route Planning Queries
Venue: arXiv cs.AI 2018
Year: 2018

A route planning query has many real-world applications and has been studied extensively in outdoor spaces such as road networks or Euclidean space. Despite its many applications in indoor venues (e.g., shopping centres, libraries, airports), almost all existing studies are specifically designed for outdoor spaces and do not take into account unique properties of the indoor spaces such as hallways, stairs, escalators, rooms etc. We identify this research gap and formally define the problem of category aware multi-criteria route planning query, denoted by CAM, which returns the optimal route from an indoor source point to an indoor target point that passes through at least one indoor point from each given category while minimizing the total cost of the route in terms of travel distance and other relevant attributes. We show that CAM query is NP-hard. Based on a novel dominance-based pruning, we propose an efficient algorithm which generates high-quality results. We provide an extensive experimental study conducted on the largest shopping centre in Australia and compare our algorithm with alternative approaches. The experiments demonstrate that our algorithm is highly efficient and produces quality results.
Small Uncolored and Colored Choice Dictionaries
Venue: arXiv cs.DS 2018
Year: 2018

A choice dictionary can be initialized with a parameter $n\in\mathbb{N}$ and subsequently maintains an initially empty subset $S$ of $\{1,\ldots,n\}$ under insertion, deletion, membership queries and an operation $\textit{choice}$ that returns an arbitrary element of $S$. The choice dictionary is fundamental in space-efficient computing and has numerous applications. The best previous choice dictionary can be initialized with $n$ and $t\in\mathbb{N}$ and subsequently executes all operations in $O(t)$ time and occupies $n+O(n({t/w})^t+\log n)$ bits on a word RAM with a word length of $w=Ω(\log n)$ bits. We describe a new choice dictionary that executes all operations in constant time and, in addition to the space needed to store the integer $n$, occupies only $n+1$ bits, which is shown to be optimal if $w=o(n)$. A generalization of the choice dictionary called a colored choice dictionary is initialized with $c\in\mathbb{N}$ in addition to $n$ and subsequently maintains a semipartition $(S_0,\ldots,S_{c-1})$ of $\{1,\ldots,n\}$ under the operations $\textit{setcolor}(j,\ell)$, which moves $\ell$ from its current subset to $S_j$, $\textit{color}(\ell)$, which returns the unique $j\in\{0,\ldots,c-1\}$ with $\ell\in S_j$, and $\textit{choice}(j)$, which returns an arbitrary element of $S_j$. We describe new colored choice dictionaries that, if initialized with constant $c$, execute $\textit{setcolor}$, $\textit{color}$ and $\textit{choice}$ in constant time and occupy $n\log_2\!c+1$ bits plus the space needed to store $n$ if $c$ is a power of 2, and at most $n\log_2\!c+n^ε$ bits in general, for arbitrary fixed $ε>0$. We also study the possibility of iterating over the set $S$ or over $S_j$ for given $j\in\{0,\ldots,c-1\}$ and an application of this to breadth-first search.
The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots
Venue: arXiv cs.RO 2018
Year: 2018

In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a system that would be suitable for relatively small-scale flying platforms where size, weight, power consumption and computational performance were all important considerations. This manuscript describes the primary features of our OVC system and explains how they are used to support fully autonomous indoor and outdoor exploration and navigation operations on our Falcon 250 quadrotor platform.
Finding Explanations of Entity Relatedness in Graphs: A Survey
Venue: arXiv cs.SI 2018
Year: 2018

Analysing and explaining relationships between entities in a graph is a fundamental problem associated with many practical applications. For example, a graph of biological pathways can be used for discovering a previously unknown relationship between two proteins. Domain experts, however, may be reluctant to trust such a discovery without a detailed explanation as to why exactly the two proteins are deemed related in the graph. This paper provides an overview of the types of solutions, their associated methods and strategies, that have been proposed for finding entity relatedness explanations in graphs. The first type of solution relies on information inherent to the paths connecting the entities. This type of solution provides entity relatedness explanations in the form of a list of ranked paths. The rank of a path is measured in terms of importance, uniqueness, novelty and informativeness. The second type of solution relies on measures of node relevance. In this case, the relevance of nodes is measured w.r.t. the entities of interest, and relatedness explanations are provided in the form of a subgraph that maximises node relevance scores. This paper uses this classification of approaches to discuss and contrast some of the key concepts that guide different solutions to the problem of entity relatedness explanation in graphs.
Optimal flow analysis, prediction and application
Venue: arXiv cs.SI 2018
Year: 2018

This thesis employs statistical learning technique to analyze, predict and solve the fixed charge network flow (FCNF) problem, which is common encountered in many real-world network problems. The cost structure for flows in the FCNF involves both fixed and variable costs. The FCNF problem is modeled mixed binary linear programs and can be solved with standard commercial solvers, which use branch and bound algorithm. This problem is important for its widely applications and solving challenges. There does not exist a efficient algorithm to solve this problem optimally due to lacking tight bounds. To the best of our knowledge, this is the first work that employs statistical learning technique to analyze the optimal flow of the FCNF problem. Most algorithms developed to solve the FCNF problem are based on the cost structure, relaxation, etc. We start from the network characteristics and explore the relationship between properties of nodes, arcs and networks and the optimal flow. This is a bi-direction approach and the findings can be used to locate the features that affect the optimal flow most significantly, predict the optimal arcs and provide information to solve the FCNF problem. In particular, we define 33 features based on the network characteristics, from which using step wise regression, we identify 26 statistical significant predictors for logistic regression to predict which arcs will have positive flow in the optimal solutions. The predictive model achieves 88% accuracy and the area under receiver operating characteristic curve is 0.95. Two applications are investigated. Firstly, the predictive results can be used directly as component critical index. The failure of arcs with higher critical index result in more cost increase over the entire network.
Brain Tumor Segmentation Using Deep Learning by Type Specific Sorting of Images
Venue: arXiv cs.CV 2018
Year: 2018

Recently deep learning has been playing a major role in the field of computer vision. One of its applications is the reduction of human judgment in the diagnosis of diseases. Especially, brain tumor diagnosis requires high accuracy, where minute errors in judgment may lead to disaster. For this reason, brain tumor segmentation is an important challenge for medical purposes. Currently several methods exist for tumor segmentation but they all lack high accuracy. Here we present a solution for brain tumor segmenting by using deep learning. In this work, we studied different angles of brain MR images and applied different networks for segmentation. The effect of using separate networks for segmentation of MR images is evaluated by comparing the results with a single network. Experimental evaluations of the networks show that Dice score of 0.73 is achieved for a single network and 0.79 in obtained for multiple networks.
Playing the Game of Universal Adversarial Perturbations
Venue: arXiv cs.LG 2018
Year: 2018

We study the problem of learning classifiers robust to universal adversarial perturbations. While prior work approaches this problem via robust optimization, adversarial training, or input transformation, we instead phrase it as a two-player zero-sum game. In this new formulation, both players simultaneously play the same game, where one player chooses a classifier that minimizes a classification loss whilst the other player creates an adversarial perturbation that increases the same loss when applied to every sample in the training set. By observing that performing a classification (respectively creating adversarial samples) is the best response to the other player, we propose a novel extension of a game-theoretic algorithm, namely fictitious play, to the domain of training robust classifiers. Finally, we empirically show the robustness and versatility of our approach in two defence scenarios where universal attacks are performed on several image classification datasets -- CIFAR10, CIFAR100 and ImageNet.
FFT Convolutions are Faster than Winograd on Modern CPUs, Here is Why
Venue: arXiv cs.PF 2018
Year: 2018

Winograd-based convolution has quickly gained traction as a preferred approach to implement convolutional neural networks (ConvNet) on various hardware platforms because it requires fewer floating point operations than FFT-based or direct convolutions. This paper compares three highly optimized implementations (regular FFT--, Gauss--FFT--, and Winograd--based convolutions) on modern multi-- and many--core CPUs. Although all three implementations employed the same optimizations for modern CPUs, our experimental results with two popular ConvNets (VGG and AlexNet) show that the FFT--based implementations generally outperform the Winograd--based approach, contrary to the popular belief. To understand the results, we use a Roofline performance model to analyze the three implementations in detail, by looking at each of their computation phases and by considering not only the number of floating point operations, but also the memory bandwidth and the cache sizes. The performance analysis explains why, and under what conditions, the FFT--based implementations outperform the Winograd--based one, on modern CPUs.
On Folding and Twisting (and whatknot): towards a characterization of workspaces in syntax
Venue: arXiv cs.CL 2018
Year: 2018

Syntactic theory has traditionally adopted a constructivist approach, in which a set of atomic elements are manipulated by combinatory operations to yield derived, complex elements. Syntactic structure is thus seen as the result or discrete recursive combinatorics over lexical items which get assembled into phrases, which are themselves combined to form sentences. This view is common to European and American structuralism (e.g., Benveniste, 1971; Hockett, 1958) and different incarnations of generative grammar, transformational and non-transformational (Chomsky, 1956, 1995; and Kaplan & Bresnan, 1982; Gazdar, 1982). Since at least Uriagereka (2002), there has been some attention paid to the fact that syntactic operations must apply somewhere, particularly when copying and movement operations are considered. Contemporary syntactic theory has thus somewhat acknowledged the importance of formalizing aspects of the spaces in which elements are manipulated, but it is still a vastly underexplored area. In this paper we explore the consequences of conceptualizing syntax as a set of topological operations applying over spaces rather than over discrete elements. We argue that there are empirical advantages in such a view for the treatment of long-distance dependencies and cross-derivational dependencies: constraints on possible configurations emerge from the dynamics of the system.
A Traffic-Aware Medium Access Control Mechanism for Energy-Efficient Wireless Network-on-Chip Architectures
Venue: arXiv cs.NI 2018
Year: 2018

Wireless interconnection has emerged as an energy efficient solution to the challenges of multi-hop communication over the wireline paths in conventional Networks-on-Chips (NoCs). However, to ensure the full benefits of this novel interconnect technology, design of simple, fair and efficient Medium Access Control (MAC) mechanism to grant access to the on-chip wireless communication channel is needed. Moreover, to adapt to the varying traffic demands from the applications running on a multicore environment, MAC mechanisms should dynamically adjust the transmission slots of the wireless interfaces (WIs). Such dynamic adjustment in transmission slots will result in improving the utilization of the wireless medium in a Wireless NoC (WiNoC). In this paper we present the design of two dynamic MAC mechanisms that adjust the transmission slots of the WIs based on predicted traffic demands and allow partial packet transfer. Through system level simulations, we demonstrate that the traffic aware MAC mechanisms are more energy efficient as well as capable of sustaining higher data bandwidth in WiNoCs.
Decentralized dynamic task allocation for UAVs with limited communication range
Venue: arXiv cs.NI 2018
Year: 2018

We present the Limited-range Online Routing Problem (LORP), which involves a team of Unmanned Aerial Vehicles (UAVs) with limited communication range that must autonomously coordinate to service task requests. We first show a general approach to cast this dynamic problem as a sequence of decentralized task allocation problems. Then we present two solutions both based on modeling the allocation task as a Markov Random Field to subsequently assess decisions by means of the decentralized Max-Sum algorithm. Our first solution assumes independence between requests, whereas our second solution also considers the UAVs' workloads. A thorough empirical evaluation shows that our workload-based solution consistently outperforms current state-of-the-art methods in a wide range of scenarios, lowering the average service time up to 16%. In the best-case scenario there is no gap between our decentralized solution and centralized techniques. In the worst-case scenario we manage to reduce by 25% the gap between current decentralized and centralized techniques. Thus, our solution becomes the method of choice for our problem.
Enabling Ultra-Low Delay Teleorchestras using Software Defined Networking
Venue: arXiv cs.NI 2018
Year: 2018

Ultra-low delay sensitive applications can afford delay only at the level of msec. An example of this application class are the Networked Music Performance (NMP) systems that describe a live music performance by geographically separate musicians over the Internet. The present work proposes a novel architecture for NMP systems, where the key-innovation is the close collaboration between the network and the application. Using SDN principles, the applications are enabled to adapt their internal audio signal processing, in order to cope with network delay increase. Thus, affordable end-to-end delay is provided to NMP users, even under considerable network congestion.
Adaptive O-CNN: A Patch-based Deep Representation of 3D Shapes
Venue: arXiv cs.CV 2018
Year: 2018

We present an Adaptive Octree-based Convolutional Neural Network (Adaptive O-CNN) for efficient 3D shape encoding and decoding. Different from volumetric-based or octree-based CNN methods that represent a 3D shape with voxels in the same resolution, our method represents a 3D shape adaptively with octants at different levels and models the 3D shape within each octant with a planar patch. Based on this adaptive patch-based representation, we propose an Adaptive O-CNN encoder and decoder for encoding and decoding 3D shapes. The Adaptive O-CNN encoder takes the planar patch normal and displacement as input and performs 3D convolutions only at the octants at each level, while the Adaptive O-CNN decoder infers the shape occupancy and subdivision status of octants at each level and estimates the best plane normal and displacement for each leaf octant. As a general framework for 3D shape analysis and generation, the Adaptive O-CNN not only reduces the memory and computational cost, but also offers better shape generation capability than the existing 3D-CNN approaches. We validate Adaptive O-CNN in terms of efficiency and effectiveness on different shape analysis and generation tasks, including shape classification, 3D autoencoding, shape prediction from a single image, and shape completion for noisy and incomplete point clouds.
Real-Time Stereo Vision on FPGAs with SceneScan
Venue: arXiv cs.CV 2018
Year: 2018

We present a flexible FPGA stereo vision implementation that is capable of processing up to 100 frames per second or image resolutions up to 3.4 megapixels, while consuming only 8 W of power. The implementation uses a variation of the Semi-Global Matching (SGM) algorithm, which provides superior results compared to many simpler approaches. The stereo matching results are improved significantly through a post-processing chain that operates on the computed cost cube and the disparity map. With this implementation we have created two stand-alone hardware systems for stereo vision, called SceneScan and SceneScan Pro. Both systems have been developed to market maturity and are available from Nerian Vision GmbH.
Answering the "why" in Answer Set Programming - A Survey of Explanation Approaches
Venue: arXiv cs.AI 2018
Year: 2018

Artificial Intelligence (AI) approaches to problem-solving and decision-making are becoming more and more complex, leading to a decrease in the understandability of solutions. The European Union's new General Data Protection Regulation tries to tackle this problem by stipulating a "right to explanation" for decisions made by AI systems. One of the AI paradigms that may be affected by this new regulation is Answer Set Programming (ASP). Thanks to the emergence of efficient solvers, ASP has recently been used for problem-solving in a variety of domains, including medicine, cryptography, and biology. To ensure the successful application of ASP as a problem-solving paradigm in the future, explanations of ASP solutions are crucial. In this survey, we give an overview of approaches that provide an answer to the question of why an answer set is a solution to a given problem, notably off-line justifications, causal graphs, argumentative explanations and why-not provenance, and highlight their similarities and differences. Moreover, we review methods explaining why a set of literals is not an answer set or why no solution exists at all.